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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for ROBOTIS-OP3

ROS API

op_demo_node

Subscribed Topics

robotis/open_cr/button (std_msgs/String)

• The message in this topic is used to process button control.

robotis/mode_command (std_msgs/String)

• change the mode of op3_demo(ready, soccer, vision, action)

robotis/open_cr/imu (sensor_msgs/Imu)

• This message contains IMU data to detect when ROBOTIS-OP3 falls down.

ball_tracker/command (std_msgs/String)

• This message controls soccer demo

ball_detector_node/circle_set (ball_detector/circleSetStamped)

• This message contains location and size of the ball.

robotis/goal_joint_states (sensor_msgs/JointState)

• This message acquires current head joint states and use them to calculate for goal joint states to look at the ball.

face_tracker/command (std_msgs/String)

• This message controls vision demo

faceCoord (std_msgs/Int32MultiArray)

• This message contains face(s) information from the face_tracking node
  - faceCoord[0] : fps
  - faceCoord[1] : face size
  - faceCoord[2] : image width
  - faceCoord[3] : image height
  - faceCoord[4] : face id
  - faceCoord[5] : face detection length
  - faceCoord[6] : face x position(top-left)
  - faceCoord[7] : face y position(top-left)
  - faceCoord[8] : face width
  - faceCoord[9] : face height
  - faceCoord[10~15] : information of the second face

face_position (geometry_msgs/Point)

• This message contains a face information that ROBOTIS-OP3 will be looking at

Published Topics

robotis/base/ini_pose (std_msgs/String)

• The message in this topic is used for initial posture of ROBOTIS-OP3.

robotis/sync_write_item (std_msgs/String)

• This topic has a message to sync write data on ROBOTIS-OP3
  ex) LED controls

play_sound_file (std_msgs/String)

• The message in this topic contains path of the voice file for verbal announcement.

robotis/dxl_torque (std_msgs/String)

• message to torque on of ROBOTIS-OP3

robotis/set_joint_ctrl_modules (robotis_controller_msgs/JointCtrlModule)

• This message configures joint control modules to operate ROBOTIS-OP3.

robotis/enable_ctrl_module (std_msgs/String)

• This message configures control modules to operate ROBOTIS-OP3.

robotis/action/page_num (std_msgs/Int32)

• This message transfers page number to action_module to initiate actions such as kicking, standing up.

robotis/head_control/set_joint_states_offset (sensor_msgs/JointState)

• This message informs head_control_module about joint state offset to look at the ball that is detected in the image.

robotis/head_control/scan_command (std_msgs/String)

• This message commands OP3 to look around for searching a ball.

robotis/walking/command (std_msgs/String)

• This message commands walking module of OP3 to walk toward the ball.

robotis/walking/set_params (op3_walking_module_msgs/WalkingParam)

• This message configures walking parameters in the walking module to follow the ball.

face_tracking/command (std_msgs/Bool)

• This message commands face_tracking node to enable the tracking process or not.

Services Called

robotis/set_present_joint_ctrl_modules (robotis_controller_msgs/SetJointModule)

• This service configures joint control modules to operate ROBOTIS-OP3.

robotis/walking/get_params (op3_walking_module_msgs/GetWalkingParam)

• This service acquires walking parameters

robotis/action/is_running (op3_action_module_msgs/IsRunning)

• This service checks whether the action is running or not.

Parameters

gui_config (string, default: ~/op3_gui_demo/config/gui_config.yaml)

• This yaml file saves joint names, available modules, list of module preset button.

action_script (string, default: ~/op3_demo/list/action_script.yaml)

• This yaml file contains list of action and audio file bundles.